EP0479739B1 - Roboterhandgelenk - Google Patents

Roboterhandgelenk Download PDF

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Publication number
EP0479739B1
EP0479739B1 EP91830407A EP91830407A EP0479739B1 EP 0479739 B1 EP0479739 B1 EP 0479739B1 EP 91830407 A EP91830407 A EP 91830407A EP 91830407 A EP91830407 A EP 91830407A EP 0479739 B1 EP0479739 B1 EP 0479739B1
Authority
EP
European Patent Office
Prior art keywords
axis
wrist
drive unit
robot
wrist portion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP91830407A
Other languages
English (en)
French (fr)
Other versions
EP0479739A1 (de
Inventor
Mauro Zona
Marco Bettinardi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Comau SpA
Original Assignee
Comau SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Comau SpA filed Critical Comau SpA
Publication of EP0479739A1 publication Critical patent/EP0479739A1/de
Application granted granted Critical
Publication of EP0479739B1 publication Critical patent/EP0479739B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element

Definitions

  • the present invention relates to an articulated industrial robot, that is, an industrial robot having at least one articulated arm with an articulated wrist at its distal end.
  • the invention particularly concerns a wrist for a robot, of the type indicated in the pre-characterising portion of appended claim 1.
  • a robot wrist of such a type is disclosed by EP-A-74 882.
  • the robot wrist carries an operative member, for example a gripping member, which is rotatable about a plurality of axes.
  • the wrist has a series of drive units for rotating the operative member about these axes.
  • more than one drive unit must always be operated, however, since it is necessary to operate both the drive unit controlling the preselected axis and at least one other drive unit in order to cancel out an undesired rotation about a further axis caused by the rotation about the preselected axis.
  • the object of the present invention is to eliminate this problem by the provision of a wrist in which it suffices to operate only one drive unit in order to rotate the operative member solely about the single, preselected axis.
  • the subject of the invention is a robot wrist having the feature stated in the characterising portion of claim 1.
  • the robot wrist according to the invention therefore has three motors which rotate the wrist respectively about three distinct, mutually perpendicular axes.
  • the advantage of the device described above lies in the fact that the operation of only one motor rotates the wrist only about the axis controlled by that motor without causing undesired rotations about the other two axes which would have to be eliminated by the operation of the other motors.
  • Figures 1 and 2 show a robot arm 13 whose structure includes a casing 20 in the form of a shell-like structure (of one or more rigidly-interconnected pieces) having an open end for enabling the insertion in the cavity 21 in the shell of a module 22 which includes a wrist 16 and the respective operating motors and which is partially assembled so that it can then be fitted in the shell 20 in a single operation.
  • a casing which performs a carrying function and a module which is housed in the casing in a disconnectible manner and includes the various motors and their transmissions, is the subject of a copendent patent application by the same Applicant.
  • the module 22 includes a cylindrical casing 23 with an electrical connector 24 at one end for quick connection to a complementary connector 25 which is disposed in the cavity 21 in the shell-like structure 20 and is connected to electrical wires 26 leading from electrical supply means.
  • the connector 24 is connected by wires (not shown) to the various electric motors in the module 22.
  • a first drive unit 27 is supported rigidly in the casing 23 of the module 22 and includes an electric motor 28 and an epicyclic reduction unit 29 which may be of any known type, for example, of the type marketed by the German company Harmonic Drive GmbH under the mark "HARMONIC DRIVE".
  • a member 30 which is driven by the drive unit 27 by means of a shaft 31 is also supported in the casing 23 for rotation about its axis 17.
  • the casing 23 of the module 22 has an external annular flange 32 with axial holes 33 for the passage of screws 34 which engage threaded holes 35 in the annular end surface of the shell-like structure 20 so as to fix the module 22 to the shell-like structure.
  • the cylindrical body of the driven member 30 has a portion 36 which projects from an open end 37 of the casing 23 and constitutes the load-bearing structure of the wrist 16.
  • the portion 36 supports a further portion 38 of the wrist for rotation about the axis 19 which is perpendicular to the axis 17.
  • the portion 38 is rotated about the axis 18 by a drive unit 39 fixed in the cylindrical body 30 and including an electric motor 40 and a reduction unit 41 similar to the reduction unit 29.
  • the output shaft of the motor unit 39 rotates the portion 38 of the wrist by means of a pair of bevel gears 42, 43 connected for rotation with the output shaft and with the portion 38 of the wrist, respectively.
  • the portion 38 is constituted by a hollow structure with a crank-like configuration having a distal end part 44 which supports a terminal element 45 (for example, a gripping member) for rotation about the axis 19 which is radial to the axis 18 and intersects the latter at its intersection with the axis 17.
  • the terminal element 45 is rotated about the axis 19 by a drive unit 46 which, in the embodiment illustrated, is within the body 36 and is fast for rotation with the portion 38 of the wrist.
  • the drive unit 46 comprises an electric motor 47 and a reduction unit 48 which drives the rotary member 45 by means of a toothed-belt transmission 49 and a pair of bevel gears 50, 51, the transmission 49 and the bevel gears 50, 51 being within the hollow structure of the portion 38 of the wrist.
  • the drive units 27, 39 and 46 rotate the terminal element 45 of the wrist about the axes 17, 18 and 19 respectively.
  • a further advantage of the wrist arrangement described above lies in the fact that it enables the module 22 to be fitted telescopically in the shell-like structure 20 with a drive unit for moving the module 22 between a position in which it is retracted fully within the shell-like structure 20 and an extended position. This further degree of freedom further increases the working capacity of the robot.
  • the linear movement of the module 22 along the axis 17 may be achieved in any known manner, for example, by a screw driven by a motor in the shell-like structure 20 and engaging a female thread carried by the module 22.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Claims (4)

  1. Roboterhandgelenk mit
    - einer Tragkonstruktion (20, 23),
    - einer ersten Antriebseinheit (27), die mit der Tragkonstruktion (20, 23) fest verbunden ist,
    - einem Glied (30) für eine Drehung um eine erste Achse (17), das von der ersten Antriebseinheit (27) angetrieben und von der Tragkonstruktion (20, 23) getragen wird, wobei das angetriebene Glied (30) wiederum einen weiteren Handgelenkabschnitt (38) für eine Drehung um eine zur ersten Achse (17) senkrechte zweite Achse (18) sowie eine zweite Antriebseinheit (39) zum Drehen des Handgelenkabschnitts (38) um die zweite Achse (18) trägt und der Handgelenkabschnitt (38) wiederum eine dritte Antriebseinheit (46) zum Antrieb eines Arbeitselements (45) des Roboters trägt, das auf dem Handgelenkabschnitt (38) um eine dritte Achse (19) drehbar ist, die sich von der zweiten Achse (18) radial erstreckt,
       dadurch gekennzeichnet,
       daß die dritte Antriebseinheit (46) innerhalb des angetriebenen Glieds (30) angeordnet ist.
  2. Roboterhandgelenk nach Anspruch 1, dadurch gekennzeichnet, daß der Handgelenkabschnitt (38) einen klammerähnlichen Aufbau mit einem inneren Ende aufweist, das von der zweiten Antriebseinheit (39) mittels zweier Kegelräder (42, 43) um die zweite Achse (18) gedreht wird.
  3. Roboterhandgelenk nach Anspruch 2, dadurch gekennzeichnet, daß die dritte Antriebseinheit (46) mit dem Aufbau des Handgelenkabschnitts (38) fest verbunden ist und mittels eines Riementriebs (49) und zwei Kegelrädern (50, 51), die innerhalb eines den Handgelenkabschnitt (38) bildenden hohlen Körpers angeordnet sind, mit dem Arbeitselement (45) verbunden ist, wobei ihre Achse mit der zweiten Achse (18) zusammenfällt.
  4. Gelenkroboter, dadurch gekennzeichnet, daß er ein Handgelenk nach einem oder mehreren der vorhergehenden Ansprüche aufweist.
EP91830407A 1990-10-04 1991-10-02 Roboterhandgelenk Expired - Lifetime EP0479739B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT6776490 1990-10-04
IT67764A IT1241622B (it) 1990-10-04 1990-10-04 Polso di robot

Publications (2)

Publication Number Publication Date
EP0479739A1 EP0479739A1 (de) 1992-04-08
EP0479739B1 true EP0479739B1 (de) 1995-08-30

Family

ID=11305120

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91830407A Expired - Lifetime EP0479739B1 (de) 1990-10-04 1991-10-02 Roboterhandgelenk

Country Status (6)

Country Link
US (1) US5178032A (de)
EP (1) EP0479739B1 (de)
JP (1) JPH04256593A (de)
DE (1) DE69112557T2 (de)
ES (1) ES2076508T3 (de)
IT (1) IT1241622B (de)

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SE516023C2 (sv) * 1999-06-24 2001-11-12 Abb Ab Industrirobot innefattande en växellådskonfiguration samt förfarande i en industrirobot
SE0001163L (sv) * 2000-03-31 2001-10-01 Anani Vladimirov Ananiev Omkonfigurerbar lättviktsrobotarm för mobila robotar
US6746443B1 (en) 2000-07-27 2004-06-08 Intuitive Surgical Inc. Roll-pitch-roll surgical tool
US6902560B1 (en) * 2000-07-27 2005-06-07 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
SE0202445L (sv) * 2002-08-19 2004-02-20 Abb Ab Anordning vid en industrirobot
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US7960935B2 (en) 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US20080058989A1 (en) * 2006-04-13 2008-03-06 Board Of Regents Of The University Of Nebraska Surgical camera robot
US8974440B2 (en) * 2007-08-15 2015-03-10 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
CA2861159C (en) * 2006-06-22 2018-02-27 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic devices and related methods
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
EP3078344B1 (de) 2007-07-12 2020-02-26 Board of Regents of the University of Nebraska Betätigung in robotischen vorrichtungen
CA2695615A1 (en) * 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Medical inflation, attachment, and delivery devices and related methods
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US8894633B2 (en) * 2009-12-17 2014-11-25 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
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EP3977951B1 (de) 2011-06-10 2023-11-08 Board of Regents of the University of Nebraska Chirurgische endeffektoren
EP3588217A1 (de) 2011-07-11 2020-01-01 Board of Regents of the University of Nebraska Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren
CA2880220C (en) 2011-10-03 2020-10-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US8996244B2 (en) 2011-10-06 2015-03-31 Harris Corporation Improvised explosive device defeat system
WO2013106569A2 (en) 2012-01-10 2013-07-18 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and insertion
JP2015531608A (ja) 2012-05-01 2015-11-05 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 単孔式ロボット機器および関連システムと方法
EP3424651B1 (de) 2012-06-22 2020-02-12 Board of Regents of the University of Nebraska Robotische chirurgische vorrichtungen mit lokaler steuerung
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
JP2015526171A (ja) 2012-08-08 2015-09-10 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ロボット手術用デバイス、システム及び関連の方法
CA2906672C (en) 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
US9743987B2 (en) 2013-03-14 2017-08-29 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
EP4628042A3 (de) 2013-03-15 2025-12-31 Virtual Incision Corporation Robotische chirurgische vorrichtungen und systeme
CA2918531A1 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US9128507B2 (en) * 2013-12-30 2015-09-08 Harris Corporation Compact haptic interface
EP4487795A3 (de) 2014-09-12 2025-03-19 Board of Regents of the University of Nebraska Schnell lösbare endeffektoren sowie zugehörige systeme und verfahren
JP5898743B1 (ja) * 2014-09-25 2016-04-06 上銀科技股▲分▼有限公司 関節式ロボットアームの手首構造
CA2967593C (en) 2014-11-11 2024-02-27 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
US10925685B2 (en) * 2015-03-25 2021-02-23 Sony Olympus Medical Solutions Inc. Medical observation device, surgical observation device, and medical observation system
EP3331453B1 (de) 2015-08-03 2025-05-14 Virtual Incision Corporation Robotische chirurgische vorrichtungen und systeme
EP3457951B1 (de) 2016-05-18 2024-03-06 Virtual Incision Corporation Robotische chirurgische vorrichtungen und systeme
EP3503829A4 (de) 2016-08-25 2020-04-15 Board of Regents of the University of Nebraska Schnell lösbare werkzeugkopplung sowie zugehörige systeme und verfahren
CN109890580B (zh) 2016-08-30 2022-06-28 内布拉斯加大学董事会 具有紧凑型关节设计和附加自由度的机器人装置及相关系统和方法
CN110139620B (zh) 2016-11-22 2022-09-20 内布拉斯加大学董事会 改进的粗定位装置及相关系统和方法
US10722319B2 (en) 2016-12-14 2020-07-28 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
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JP7405432B2 (ja) 2017-09-27 2023-12-26 バーチャル インシジョン コーポレイション 追跡カメラ技術を有するロボット手術デバイスならびに関連するシステムおよび方法
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JP7167522B2 (ja) * 2018-07-27 2022-11-09 セイコーエプソン株式会社 ロボットアーム
CN114302665B (zh) 2019-01-07 2025-12-19 虚拟切割有限公司 机器人辅助手术系统以及相关装置和方法
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Also Published As

Publication number Publication date
IT1241622B (it) 1994-01-25
IT9067764A1 (it) 1992-04-04
DE69112557T2 (de) 1996-03-14
EP0479739A1 (de) 1992-04-08
ES2076508T3 (es) 1995-11-01
JPH04256593A (ja) 1992-09-11
IT9067764A0 (it) 1990-10-04
US5178032A (en) 1993-01-12
DE69112557D1 (de) 1995-10-05

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